CN110208818A - A kind of bluish-green laser range gating scanned imagery device and method suitable for underwater moving platform - Google Patents
A kind of bluish-green laser range gating scanned imagery device and method suitable for underwater moving platform Download PDFInfo
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- CN110208818A CN110208818A CN201910518964.8A CN201910518964A CN110208818A CN 110208818 A CN110208818 A CN 110208818A CN 201910518964 A CN201910518964 A CN 201910518964A CN 110208818 A CN110208818 A CN 110208818A
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Abstract
The invention discloses a kind of bluish-green laser range gating scanned imagery device and method suitable for underwater moving platform, realized using same set of servo mechanism hang down sweep, two kinds of operating modes of forward sight.Wherein, mode of sweeping of hanging down can be used for subaqua-tic geomorphology exploration and draw by matching vertical fan sweeping with the moving platform speed of a ship or plane to water-bed fast imaging；Subsea petroleum pipeline, optical cable maintenance exploration；Find underwater wrack, the wreckage of an plane.Target is micro- to sweep imaging to forward-looking mode by approaching, and can be used for mooring mine, bottom mine imaging identification；Anti- frogman, UUV, AUV；The damage of large surface warship under-water body is reconnoitred and the underwater warning of maintenance effect assessment and high economic value pier, harbour.The imaging detecting device can carry a variety of submarine navigation devices by adaptation, realize underwater fast imaging scanning, have a extensive future.
Description
Technical field
The invention belongs to Underwater Imaging detection technology field, a kind of underwater scanned imagery device and side are related generally to
Method more particularly to a kind of bluish-green laser range gating scanned imagery device and method suitable for underwater moving platform.
Background technique
With the development of science and technology, the mankind come into the epoch for developing and utilizing ocean.With underwater robot skill
The fast development of art, undersea detection technology, especially underwater quick detection, and the blur-free imaging application to underwater specific objective
Obtain extensive concern.The highly sensitive Underwater Camera being widely used at present, can take about in very clean water
More than ten meters or so of scenery, detection range is closer, and detection efficient is low, it is difficult to meet the needs of a wide range of underwater quick detection.?
The darker or unglazed subsea environment of brightness, it is also necessary to which illumination can just be imaged, so motion carrier, that is, underwater robot is resistance to
Pressure surface of shell needs to install transparent pod and illuminating lamp shade.
Video camera is imaged the object of observation by the transparent pod installed on underwater robot pressure hull, together
When pod play the role of seal pressure hull.The translucent cover applied at present is ball segment-like transparent cover, the translucent cover of ball sector
Distortion and dispersion of the light because of different wave length caused by the refraction that different medium intersection generates will not be generated, under water stress
Uniformly, can bear higher pressure, but such translucent cover processing difficulties, it is at high cost, especially bigbore processing and at
This meeting is higher.
Summary of the invention
Since the decaying that seawater compares other optical bands to blue green light of the wavelength in 0.47~0.58 mu m waveband wants small very
More, so the undersea detection systemic effect distance using bluish-green laser is remote, the detection identification for submarine target can obtain ratio
The higher ranging of sonar, positioning and imaging precision.Therefore bluish-green laser scanning imaging system can be equipped on underwater robot
Or autonomous underwater vehicle (UUV), it is used for Underwater Imaging, is radiation source using the bluish-green laser of wavelength 532nm, passes through range gating
Type ICCD receives target echo imaging.
But the detection viewing field of range gating type ICCD optical imaging system is smaller, while moving platform is advanced under water,
ICCD needs underwater moving platform round-trip step-scan within the scope of certain angle around roll axis, to obtain continuous multiple image,
It stores and carries out image mosaic, to realize the extension of visual field.Therefore the present invention is carried quick for underwater moving platform adaptability
The demand that big regional scope search sweep is imaged and closely identifies provides a kind of suitable for underwater moving platform imaging detection and height
The bluish-green laser imaging device and method of resolution ratio identification.Giving full play to underwater bluish-green laser range-gated imaging technique advantage
While by step-scan extended parallel port detection viewing field, and by step-scan, the speed of a ship or plane compensation collective effect is isolated with disturbing,
Avoid scanning area from omitting, and generate by carrier movement image blur, wrong frame the problems such as.
The technical solution of the present invention is as follows:
A kind of bluish-green laser range gating scanned imagery device suitable for underwater moving platform, it is characterised in that: packet
Forward sight window assembly, head-shield are included, hangs down and sweeps window assembly, middle cylinder, back cover, servo rotation frame and sensing system；
The head-shield main part uses spherical structure, and head-shield rear portion circle interface is fixedly connected with middle cylinder forward end seal；
There is opening in head-shield lower front, be sealed and installed with forward sight window assembly in opening；The middle cylinder is hollow cylinder shell,
There is opening in the bottom wall of middle cylinder, be sealed and installed with to hang down in opening and sweep window assembly；The back cover is in both ends open
Hollow structure, back cover front end are sealedly and fixedly connected with middle tube rear end, and back cover rear end is sealedly and fixedly connected with underwater moving platform carrier；
Servo rotation frame is installed, the sensing system is fixedly mounted on servo rotation frame inside the middle cylinder
On；The sensing system is Range-gated Imager sensing system；The servo rotation frame includes pitching ring stand and roll
Ring stand；The optical axis that roll ring stand is able to drive sensing system is put in the plane perpendicular to underwater moving platform carrier roll axis
Dynamic, the optical axis that pitching ring stand is able to drive sensing system is swung in the plane perpendicular to underwater moving platform carrier pitch axis.
Further preferred embodiment, a kind of bluish-green laser range gating scanning imagery dress suitable for underwater moving platform
It sets, it is characterised in that: the sensing system includes laser emitter, ICCD imaging lens and ICCD, gyro, Laser emission
Device, ICCD imaging lens and ICCD, gyro are installed on optical bench, and optical bench is fixed on roll ring stand.
Further preferred embodiment, a kind of bluish-green laser range gating scanning imagery dress suitable for underwater moving platform
It sets, it is characterised in that: the step surface of the back cover rear end and underwater moving platform carrier connecting interface is sealed by sealing ring, and
In back cover rear end face and underwater moving platform carrier connecting interface step surface, pass through several axial pins being uniformly distributed circumferentially
Realize positioning；After back cover rear end face and the cooperation of underwater moving platform carrier connecting interface step surface position, the side shape of cooperation
At a trapezoidal protrusion of circle, back cover rear end and underwater moving platform carrier connecting interface are fastened using the movable dog with dovetail groove
Connection.
Further preferred embodiment, a kind of bluish-green laser range gating scanning imagery dress suitable for underwater moving platform
It sets, it is characterised in that: the middle cylinder both ends and front shroud and back cover pass through the circle being uniformly distributed circumferentially respectively and axially fasten spiral shell
It clenches and is solidly connected, be coated with silicon rubber in fastening screw interface, and sealed on a mating using sealing ring.
Further preferred embodiment, a kind of bluish-green laser range gating scanning imagery dress suitable for underwater moving platform
Set, it is characterised in that: forward sight window assembly and hang down sweep in window assembly, window glass and opening ontology between use silicon rubber
Sealing, and window glass is pressed abd fixed in opening ontology by rubber pad and compacting ring.
A kind of bluish-green laser range gating scan imaging method suitable for underwater moving platform, it is characterised in that: including hanging down
Sweep operating mode and forward sight operating mode；It hangs down and sweeps under operating mode, sensing system carries out speed of a ship or plane matching with moving platform and passes through
It hangs down and sweeps window to a wide range of fast search of submarine target；Under forward sight operating mode, sensing system is by forward sight window to needs
Target close to observation carries out short distance imaging.
Further preferred embodiment, a kind of bluish-green laser range gating scan imaging method suitable for underwater moving platform,
It is swept under operating mode it is characterized by: hanging down, roll ring stand drives the optical axis of sensing system to do round-trip stepping around carrier roll axis
Scanning, visual field extending transversely obtain the image sequence perpendicular to course, while pitching ring stand drives the optical axis edge of sensing system
The opposite direction of carrier navigation is turned, and carry out speed of a ship or plane compensation makes optical axis in range gating so that disturbance of the carrier movement to optical axis is isolated
Imaging sensor time for exposure T1Inside it is stable at the current location under earth coordinates.
Further preferred embodiment, a kind of bluish-green laser range gating scan imaging method suitable for underwater moving platform,
It is swept under operating mode it is characterized by: hanging down, sensing system carries out speed of a ship or plane matching with moving platform and sweeps window to underwater by hanging down
The detailed process of a wide range of fast search of target are as follows:
Step 1: driving sensing system optical axis to turn to lateral step-scan initial position by roll ring stand；
Step 2: Range-gated Imager sensing system starts to expose, in time for exposure T1It is interior, it is driven by pitching ring stand
Sensing system optical axis is at the uniform velocity turned along the opposite direction that carrier navigates by water, and turning angular speed is ω；
Step 3: Range-gated Imager sensing system end exposure completes frame imaging；
Step 4: judging whether to complete a stepping number cut in wide b, if completed, enter step 6, otherwise enter
Step 5；Described to cut the transverse width that wide b is extended field of view, b=N × a, a are lateral step angle, and N is a figure cut in width
As number of frames；
Step 5: driving sensing system optical axis around carrier roll axis transverse direction stepping 1 time by roll ring stand, step angle
For a, stepping time T2
Wherein A is the lateral dimension of Range-gated Imager sensor detection viewing field, and T cuts wide for step-scan completion one
Time, T3For scan through one cut after, when sensing system optical axis turns the setting of offset angle C along the positive direction that carrier navigates by water
Between；
And during stepping, sensing system optical axis is driven at the uniform velocity to adjust along the opposite direction that carrier navigates by water by pitching ring stand
Turn, turning angular speed is ω；Then return step 2；
Step 6: driving sensing system optical axis to turn offset angle C=along the positive direction that carrier navigates by water by pitching ring stand
ωT；After the completion of turning, optical axis position is as next initial position for cutting wide step-scan at this time, and the direction of step-scan
The opposite direction of wide scanning is cut for upper one；
Step 7: being judged whether to stop scanning imagery according to instruction, step 8 is transferred to if stopping, and continuation, which returns, executes step
Rapid 2；
Step 8: scanning imagery work terminates.
Further preferred embodiment, a kind of bluish-green laser range gating scan imaging method suitable for underwater moving platform,
It is characterized by: the opposite direction for driving sensing system optical axis to navigate by water along carrier by pitching ring stand in step 2 and step 5 is at the uniform velocity
The angular velocity omega turned meets
Wherein B is the longitudinal size of Range-gated Imager sensor detection viewing field.
Further preferred embodiment, a kind of bluish-green laser range gating scan imaging method suitable for underwater moving platform,
It is characterized by: step-scan, which completes one, cuts wide time T satisfaction
Wherein L is gated imaging distance, and V is carrier route speed.
Further preferred embodiment, a kind of bluish-green laser range gating scan imaging method suitable for underwater moving platform,
It is characterized by: sensing system is by forward sight window to the target progress low coverage needed close to observation under forward sight operating mode
Detailed process from imaging are as follows:
Step a: sensing system optical axis is driven to turn to forward sight window by pitching ring stand；
Step b: sensing system optical axis is driven to turn to lateral step-scan initial position by roll ring stand；
Step c: frame imaging is completed in the exposure of Range-gated Imager sensing system；
Step d: judge whether to complete a stepping number cut in wide b, if completed, enter step f, otherwise enter
Step e；Described to cut the transverse width that wide b is extended field of view, b=N × a, a are lateral step angle, and N is a figure cut in width
As number of frames；
Step e: being driven sensing system optical axis lateral deflection stepping 1 time, step angle a by roll ring stand, is met
Wherein A is the lateral dimension of Range-gated Imager sensor detection viewing field；Then return step c；
Step f: driving sensing system optical axis to turn angle B along the positive direction that carrier navigate by water by pitching ring stand, B for away from
Longitudinal size from gated imaging sensor detection viewing field；After the completion of turning, optical axis position cuts wide stepping as next at this time
The initial position of scanning, and the direction of step-scan is upper one opposite direction for cutting wide scanning；
Step g: judging whether to stop scanning imagery according to instruction, and step h is transferred to if stopping, and continuation, which returns, executes step
Rapid c；
Step h: scanning imagery work terminates.
Beneficial effect
Effective effect that the present invention generates includes:
(1) it realizes to hang down using same set of servo mechanism and sweep and two kinds of operating modes of forward sight.Wherein, hang down sweep mode by with
The moving platform speed of a ship or plane matches vertical fan sweeping to water-bed fast imaging, can be used for subaqua-tic geomorphology exploration and draws；Subsea petroleum pipeline, optical cable
Maintenance exploration；Find underwater wrack, the wreckage of an plane.And forward-looking mode can be used for mooring mine, sink to the bottom by approaching target imaging
Thunder imaging identification；Anti- frogman, UUV, AUV；The damage of large surface warship under-water body is reconnoitred and maintenance effect is assessed and Gao Jing
The underwater warning of Ji value pier, harbour, so the device, in hydrospace detection field, application prospect is extensive.
(2) visual field of Range-gated Imager sensor is usually smaller, for submarine target imaging detection when efficiency very
It is low, this hair by scanning technique in conjunction with range gating, using step-scan extension to submarine target bluish-green laser range gating at
The detection viewing field of picture, while guaranteeing the image-forming range and image quality of range gating, so as to improve detection efficient.
(3) Range-gated Imager visual field is small and the time for exposure is longer, then takes aim at line and is stable at the earth seat within the time for exposure
Mark is that the time of lower current location is longer, and carrier be in travel condition, therefore, the present invention it is vertical sweep mode when, step-scan
Speed of a ship or plane compensation is carried out while extended field of view, to guarantee the imaging frame sequence of step-scan perpendicular to roll axis.
(4) pass through step-scan while the device gives full play to underwater bluish-green laser range-gated imaging technique advantage
Extended parallel port detection viewing field, and collective effect is isolated with disturbance by step-scan, speed of a ship or plane compensation, avoid scanning area from losing
Leakage, and generate by carrier movement image blur, wrong frame the problems such as.
Detailed description of the invention
Fig. 1: the installation diagram of bluish-green laser scanned imagery device；
Fig. 2: back cover and underwater moving platform carrier are sealedly and fixedly connected schematic diagram；
Fig. 3: movable dog schematic diagram；
Fig. 4: bluish-green laser scanned imagery device structure composition figure；
Fig. 5: the sealing schematic diagram of bluish-green laser scanned imagery device；
Fig. 6: bluish-green laser scanned imagery device operating mode schematic diagram；
Fig. 7: it hangs down and sweeps and forward sight operating mode schematic diagram；(a) it hangs down and sweeps mode, (b) forward-looking mode；
Fig. 8: it hangs down and sweeps mode work flow diagram；
Fig. 9: schematic diagram is directed toward in the sagging movement for sweeping mode optical axis of earth coordinates；
Figure 10: it hangs down and sweeps Mode scans imaging frame mapping schematic diagram.
Specific embodiment
With reference to the accompanying drawing and preferred embodiment the invention will be further described.
A kind of bluish-green laser range gating scanned imagery device suitable for underwater moving platform proposed in the present invention, including
Forward sight window assembly 1, head-shield 2 hang down and sweep window assembly 3, middle cylinder 4, back cover 5, servo rotation frame 8 and sensing system.
The head-shield main part uses spherical structure, and head-shield rear portion circle interface is fixedly connected with middle cylinder forward end seal；
There is opening in head-shield lower front, be sealed and installed with forward sight window assembly in opening；The middle cylinder is hollow cylinder shell,
There is opening in the bottom wall of middle cylinder, be sealed and installed with to hang down in opening and sweep window assembly；The back cover is in both ends open
Hollow structure, back cover front end are sealedly and fixedly connected with middle tube rear end, and back cover rear end is sealedly and fixedly connected with underwater moving platform carrier.
Servo rotation frame is installed, the sensing system is fixedly mounted on servo rotation frame inside the middle cylinder
On；The sensing system is Range-gated Imager sensing system；The servo rotation frame includes pitching ring stand 8-1 and cross
Rolling ring frame 8-2；Pitching ring stand 8-1 and roll ring stand 8-2 are driven with permanent magnet D.C. torque motor respectively.Roll ring stand is able to drive
The optical axis of sensing system is swung in the plane perpendicular to underwater moving platform carrier roll axis, and pitching ring stand is able to drive sensing
The optical axis of device system is swung in the plane perpendicular to underwater moving platform carrier pitch axis.
The sensing system includes laser emitter 14, ICCD imaging lens 15 and ICCD16, gyro 17, Laser emission
Device, ICCD imaging lens and ICCD, gyro are installed on optical bench 13, and optical bench is fixed on roll ring stand.
The watertight position of the device shares at 5, is the window's position M1, M2 respectively, front and back cabin interface M3, M4 and carries with movement
The mechanical interface M5 of body.
5 rear end of back cover and the step surface of underwater moving platform carrier connecting interface 9 are sealed by sealing ring 6-3, and
In back cover rear end face and underwater moving platform carrier connecting interface step surface, pass through several axial pins being uniformly distributed circumferentially
11 realize positioning；After back cover rear end face and the cooperation of underwater moving platform carrier connecting interface step surface position, the side of cooperation
A trapezoidal protrusion of circle is formed, using the movable dog 10 with dovetail groove by back cover rear end and underwater moving platform carrier connecting interface
It is fastenedly connected.
Movable dog is flexibly connected section (10-3) and fastening screw (10-4) by front band (10-1), lower catch hoop (10-2)
Composition.Clip inner ring is trapezoidal groove, is suited with back cover with the trapezoidal convex slope of carrier linkage section, by screwing fastening spiral shell
Nail, movable dog tense, and clip and back cover and carrier linkage section suit inclined-plane by radial pressure, make imaging device and carrier
It is fixedly connected, and squeezes O-ring seal and keep watertight.
The middle cylinder both ends and front shroud and back cover pass through the circle being uniformly distributed circumferentially respectively and axially fasten the fastening of screw 7
Connection, is coated with silicon rubber in fastening screw interface, and is sealed on a mating using sealing ring 6.
Forward sight window assembly and hang down sweep in window assembly, window glass M-1 and opening ontology between using silicon rubber it is close
Envelope, and window glass is pressed abd fixed in opening ontology by rubber pad M-2 and compacting ring M-3, window glass rubber pad
(M-2) it is compressed with compacting ring (M-3) using screw (M-4).
The operating mode of above-mentioned apparatus imaging device, which mainly has to hang down, sweeps mode and forward-looking mode, and uses same set of servo
Structure is realized to hang down and be swept and two kinds of operating modes of forward sight；Wherein, it hangs down and sweeps mode by matching vertical fan sweeping to the bottom with the moving platform speed of a ship or plane
Fast imaging is searched for for underwater quick-speed large-scale；Forward-looking mode approaches that target is micro- to sweep imaging by carrier, knows for target
Not.
Mode is swept for hanging down, the present invention proposes a kind of exhaustive scan method, is playing underwater bluish-green laser range gating
While imaging advantages, it is isolated by step-scan extended parallel port detection viewing field, and by step-scan, speed of a ship or plane compensation with disturbance
Collective effect avoids scanning area from omitting, and image blur, wrong frame because of carrier movement generation etc..By by stepping
Scan method is combined with range gating, has both been played Range-gated Imager apart from remote, quality height, has effectively been inhibited back scattering
Advantage, while detection viewing field is extended by turntable mechanism, carry out speed of a ship or plane compensation and disturbance is isolated, it realizes under earth coordinates
Continuous nothing left scanning leakage, to improve detection efficient.
Specific symbol definition is given below:
A is the horizontal detection field size of Range-gated Imager sensor；
B is the longitudinal probing field size of Range-gated Imager sensor；
After C cuts width for step-scan one, optical axis does what the angle that speed of a ship or plane compensation is turned projected on carrier vertical section
Angle；
A is the step angle of step-scan；
B is that the expanded- angle reached is cut in step-scan one；
N is one and cuts wide image frames numbers；
When ω is that the speed of a ship or plane compensates, optical axis turns the angular speed projected on carrier vertical section；
T1For range gating sensor exposure time；
T2For the stepping primary required time；
T3For scan through one cut after, optical axis around carrier pitch axis and to carrier navigate by water positive direction turn angle C when
Between, to offset speed of a ship or plane compensation；
T is that the wide time is cut in step-scan completion one；
L is image-forming range；
V is carrier route speed.
The present invention makes optical axis do round-trip step-scan around carrier roll axis by turntable (servo rotation frame), extending transversely
Visual field obtains the image sequence perpendicular to course, as the navigation of carrier forms band-like image, Range-gated Imager sensor
Detection viewing field is A (transverse direction) × B (longitudinal direction), and step angle a, the transverse width of extended field of view is to cut wide b (b=N × a), and N is
One image frames numbers cut in width, gated imaging distance are L；It is turned by the opposite direction that turntable navigates by water optical axis along carrier,
Carry out speed of a ship or plane compensation；Disturbance of the carrier position variation to optical axis is isolated, makes optical axis in Range-gated Imager sensor exposure time
T1Inside it is stable at the current location under earth coordinates.
Specifically includes the following steps:
Step 1: driving sensing system optical axis to turn to lateral step-scan initial position by roll ring stand.
Step 2: Range-gated Imager sensing system starts to expose, in time for exposure T1It is interior, it is driven by pitching ring stand
Sensing system optical axis is at the uniform velocity turned along the opposite direction that carrier navigates by water, and turning angular speed is ω, is met
Wherein B is the longitudinal size of Range-gated Imager sensor detection viewing field, and T cuts wide for step-scan completion one
Time meets
Wherein L is gated imaging distance, and V is carrier route speed.In the whole process, step-scan completes one and cuts width
Time
T=NT1+(N-1)T2+T3
Wherein N is the image frames numbers cut in width, T2For stepping primary required time, T3For scan through one cut after,
Sensing system optical axis turns the setting time of offset angle C along the positive direction that carrier navigates by water.
It avoids carrier navigation that optical axis and the intersection point of target is caused to generate displacement with this and causes image fuzzy, is i.e. the realization speed of a ship or plane
Compensation, while the disturbance of carrier position variation bring is isolated by turntable, make optical axis in Range-gated Imager exposure sensor
Between T1Current location of the interior stabilization under earth coordinates；
Step 3: Range-gated Imager sensing system end exposure completes frame imaging.
Step 4: judging whether to complete a stepping number cut in wide b, if completed, enter step 6, otherwise enter
Step 5；Described to cut the transverse width that wide b is extended field of view, b=N × a, a are lateral step angle, and N is a figure cut in width
As number of frames.
Step 5: driving sensing system optical axis around carrier roll axis transverse direction stepping 1 time by roll ring stand, step angle
For a, stepping time T2, meet
Wherein A is the lateral dimension of Range-gated Imager sensor detection viewing field, and T cuts wide for step-scan completion one
Time, T3For scan through one cut after, when sensing system optical axis turns the setting of offset angle C along the positive direction that carrier navigates by water
Between；
And during stepping, sensing system optical axis is driven at the uniform velocity to adjust along the opposite direction that carrier navigates by water by pitching ring stand
Turn, turning angular speed is ω；And carrier position variation disturbance is isolated by turntable.Step-scan, speed of a ship or plane compensation in the step
Three's coupling is isolated with disturbance.
Then return step 2.
Step 6: driving sensing system optical axis to turn offset angle C=along the positive direction that carrier navigates by water by pitching ring stand
ω T, hangover caused by persistently rotating backward to avoid optical axis, during angle C cuts width for step-scan one, optical axis navigates
Projection angle of the angle that speed compensation is continuously turned on carrier vertical section.After the completion of turning, under optical axis position is used as at this time
One is cut the initial position of wide step-scan, and the direction of step-scan is upper one opposite direction for cutting wide scanning.
Step 7: being judged whether to stop scanning imagery according to instruction, step 8 is transferred to if stopping, and continuation, which returns, executes step
Rapid 2；
Step 8: scanning imagery work terminates.
The workflow of underwater laser images exhaustive scan method provided by the invention is as shown in Figure 8.As carrier navigates
Row, direction of the optical axis under earth coordinates is as shown in figure 9, step-scan is formed by optical axis in earth coordinates picture centre
Intercept curve, sequencing arranges according to direction shown in arrow；After circle expression is turned in place, optical axis is in the ICCD time for exposure
Interior stop current location simultaneously keeps stable.
For a certain specific example, the radiation source of Range-gated Imager is bluish-green using the nanosecond pulse of Gao Zhongying
Laser, Range-gated Imager sensor use gate type ICCD.Turntable includes two roll, pitching limited angle revolution ring stand machines
Structure is all made of permanent magnet D.C. torque motor and directly drives load limited-rotary, configures angular position encoder and optical fibre gyro, pass through
SERVO CONTROL optical axis stable is directed toward target.
The movement of optical axis mainly includes around the step-scan I (being completed by roll servo mechanism) of roll axis and perpendicular to vertical
The speed of a ship or plane of rocker compensates II (being completed by pitching servo mechanism).The effect of step-scan I is that the adjacent single frames in roll direction is small
View field image " splicing " is at lateral " column ", and to increase the lateral breadth (cutting width) of image, the effect that the speed of a ship or plane compensates II is to disappear
Except system navigation bring optical axis displacement, fan sweeping movement I " column " formed are subjected to " row " arrangement along course, increase Waterfall plot
Length.
In the preferred embodiment, each parameter are as follows:
A × B=4 ° of detection viewing field × 3 ° of ICCD；
Time of integration T1=0.05s；
Image-forming range L=20m；
Carrier route speed V=4km/h=1.11m/s；
One cuts wide image frames numbers N=5；
Step angle takes a=A, i.e., a=4 °；
Extended field of view is cut b=N × a=20 ° wide；
The time that scanning one is cut takesIt can be calculated T=0.943s；
The stepping primary required timeSet T2=
T3, can be calculated T2=0.139s；
Speed of a ship or plane compensation turns angular speed and takes ω=B/T=3.11 °/s；
The compensation of the counteracting speed of a ship or plane turns angle C=ω T=3 ° after scanning completion one is cut.
The detailed step of this preferred embodiment is as follows:
Step 1: driving sensing system optical axis to turn to lateral step-scan initial position by roll ring stand.
Step 2:ICCD starts to expose, and the opposite direction navigated by water by turning table control optical axis around carrier pitching axial direction carrier is at the uniform velocity
It turns and does speed of a ship or plane compensation, turning angular speed is 3.11 °/s, while being isolated by turntable and being disturbed, and makes optical axis in time for exposure 0.05s
Current location of the interior stabilization under earth coordinates；
Step 3:ICCD end exposure completes frame imaging.
Step 4: judging whether to complete a stepping number cut in wide b, if completed, enter step 6, otherwise enter
Step 5；Described to cut the transverse width that wide b is extended field of view, b=N × a, a are lateral step angle, and N is a figure cut in width
As number of frames.
Step 5: driving sensing system optical axis around carrier roll axis transverse direction stepping 1 time by roll ring stand, step angle
It is 4 °, stepping time is 0.139s, and during stepping, drives sensing system optical axis to navigate along carrier by pitching ring stand
Capable opposite direction is at the uniform velocity turned, and turning angular speed is 3.11 °/s；And carrier position variation disturbance is isolated by turntable.The step
Three's coupling is isolated with disturbance for step-scan, speed of a ship or plane compensation in rapid.
Then return step 2.
Step 6: drive sensing system optical axis to turn 3 ° of offset angle along the positive direction that carrier navigates by water by pitching ring stand,
Time 0.139s is turned in hangover caused by persistently rotating backward to avoid optical axis.After the completion of turning, under optical axis position is used as at this time
One is cut the initial position of wide step-scan, and the direction of step-scan is upper one opposite direction for cutting wide scanning.
Step 7: being judged whether to stop scanning imagery according to instruction, step 8 is transferred to if stopping, and continuation, which returns, executes step
Rapid 2；
Step 8: scanning imagery work terminates.
It is 20 ° that scanning, which is formed by image visual field extending transversely, is mapped such as with each frame image projection of carrier movement imaging
Shown in Figure 10.
And under forward sight operating mode, it does not need to carry out navigation compensation, so sensing system is by forward sight window to need
The detailed process of short distance imaging is carried out close to the target of observation are as follows:
Step a: sensing system optical axis is driven to turn to forward sight window by pitching ring stand；
Step b: sensing system optical axis is driven to turn to lateral step-scan initial position by roll ring stand；
Step c: frame imaging is completed in the exposure of Range-gated Imager sensing system；
Step d: judge whether to complete a stepping number cut in wide b, if completed, enter step f, otherwise enter
Step e；Described to cut the transverse width that wide b is extended field of view, b=N × a, a are lateral step angle, and N is a figure cut in width
As number of frames；
Step e: being driven sensing system optical axis lateral deflection stepping 1 time, step angle a by roll ring stand, is met
Wherein A is the lateral dimension of Range-gated Imager sensor detection viewing field；Then return step c；
Step f: driving sensing system optical axis to turn angle B along the positive direction that carrier navigate by water by pitching ring stand, B for away from
Longitudinal size from gated imaging sensor detection viewing field；After the completion of turning, optical axis position cuts wide stepping as next at this time
The initial position of scanning, and the direction of step-scan is upper one opposite direction for cutting wide scanning；
Step g: judging whether to stop scanning imagery according to instruction, and step h is transferred to if stopping, and continuation, which returns, executes step
Rapid c；
Step h: scanning imagery work terminates.
Claims (10)
1. a kind of bluish-green laser range gating scanned imagery device suitable for underwater moving platform, it is characterised in that: including forward sight
Window assembly, head-shield hang down and sweep window assembly, middle cylinder, back cover, servo rotation frame and sensing system；
The head-shield main part uses spherical structure, and head-shield rear portion circle interface is fixedly connected with middle cylinder forward end seal；In head
Cover lower front has opening, is sealed and installed with forward sight window assembly in opening；The middle cylinder is hollow cylinder shell, in middle cylinder
Bottom wall on there is opening, be sealed and installed in opening to hang down and sweep window assembly；The back cover is the hollow knot of both ends open
Structure, back cover front end are sealedly and fixedly connected with middle tube rear end, and back cover rear end is sealedly and fixedly connected with underwater moving platform carrier；
Servo rotation frame is installed, the sensing system is fixedly mounted on servo rotation frame inside the middle cylinder；Institute
Stating sensing system is Range-gated Imager sensing system；The servo rotation frame includes pitching ring stand and roll ring stand；
The optical axis that roll ring stand is able to drive sensing system is swung in the plane perpendicular to underwater moving platform carrier roll axis, pitching
The optical axis that ring stand is able to drive sensing system is swung in the plane perpendicular to underwater moving platform carrier pitch axis.
2. a kind of bluish-green laser range gating scanned imagery device suitable for underwater moving platform according to claim 1,
Be characterized in that: the sensing system includes laser emitter, ICCD imaging lens and ICCD, gyro, laser emitter, ICCD
Imaging lens and ICCD, gyro are installed on optical bench, and optical bench is fixed on roll ring stand.
3. a kind of bluish-green laser range gating scanned imagery device suitable for underwater moving platform according to claim 1,
Be characterized in that: the step surface of the back cover rear end and underwater moving platform carrier connecting interface is sealed by sealing ring, and in back cover
In rear end face and underwater moving platform carrier connecting interface step surface, realized by several axial pins being uniformly distributed circumferentially
Positioning；After back cover rear end face and the cooperation of underwater moving platform carrier connecting interface step surface position, the side of cooperation forms one
Trapezoidal protrusion is enclosed, is connected back cover rear end and the fastening of underwater moving platform carrier connecting interface using the movable dog with dovetail groove
It connects.
4. a kind of bluish-green laser range gating scanned imagery device suitable for underwater moving platform according to claim 1,
Be characterized in that: the middle cylinder both ends and front shroud and back cover pass through the circle being uniformly distributed circumferentially respectively and axially fasten screw fastening
Connection, is coated with silicon rubber in fastening screw interface, and is sealed on a mating using sealing ring；Forward sight window assembly and hang down
It sweeps in window assembly, silicone rubber seal is used between window glass and opening ontology, and pass through rubber pad and compacting ring for window
Glass is pressed abd fixed in opening ontology.
5. a kind of bluish-green laser range gating for being suitable for underwater moving platform using claim 1 described device is scanned into image space
Method, it is characterised in that: sweep operating mode and forward sight operating mode including hanging down；It hangs down and sweeps under operating mode, sensing system is put down with dynamic
Platform carries out speed of a ship or plane matching and sweeps window to a wide range of fast search of submarine target by hanging down；Under forward sight operating mode, sensor system
System carries out short distance imaging to the target for needing close observation by forward sight window.
6. a kind of bluish-green laser range gating scan imaging method suitable for underwater moving platform according to claim 5,
It is characterized in that: hanging down and sweep under operating mode, roll ring stand drives the optical axis of sensing system to do round-trip stepping around carrier roll axis and sweeps
It retouches, visual field extending transversely, obtains the image sequence perpendicular to course, while pitching ring stand drives the optical axis of sensing system along load
Body navigation opposite direction turn, carry out speed of a ship or plane compensation, disturbance of the carrier movement to optical axis is isolated, make optical axis range gating at
As sensor exposure time T1Inside it is stable at the current location under earth coordinates.
7. a kind of bluish-green laser range gating scan imaging method suitable for underwater moving platform according to claim 6,
It is characterized in that: hanging down and sweep under operating mode, sensing system and moving platform carry out speed of a ship or plane matching and sweep window to underwater mesh by hanging down
Mark the detailed process of a wide range of fast search are as follows:
Step 1: driving sensing system optical axis to turn to lateral step-scan initial position by roll ring stand；
Step 2: Range-gated Imager sensing system starts to expose, in time for exposure T1It is interior, sensor is driven by pitching ring stand
Systematic optical axis is at the uniform velocity turned along the opposite direction that carrier navigates by water, and turning angular speed is ω；
Step 3: Range-gated Imager sensing system end exposure completes frame imaging；
Step 4: judging whether to complete a stepping number cut in wide b, if completed, enter step 6, otherwise enter step
5；Described to cut the transverse width that wide b is extended field of view, b=N × a, a are lateral step angle, and N is a picture frame cut in width
Quantity；
Step 5: drive sensing system optical axis around carrier roll axis transverse direction stepping 1 time, step angle a by roll ring stand,
Stepping time is T2
Wherein A is the lateral dimension of Range-gated Imager sensor detection viewing field, when T is that step-scan completes one and cuts wide
Between, T3For scan through one cut after, sensing system optical axis turns the setting time of offset angle C along the positive direction that carrier navigates by water；
And during stepping, sensing system optical axis is driven at the uniform velocity to turn along the opposite direction that carrier navigates by water by pitching ring stand,
Turning angular speed is ω；Then return step 2；
Step 6: driving sensing system optical axis to turn offset angle C=ω T along the positive direction that carrier navigates by water by pitching ring stand；
After the completion of turning, optical axis position is as next initial position for cutting wide step-scan at this time, and the direction of step-scan is upper
One is cut the opposite direction of wide scanning；
Step 7: being judged whether to stop scanning imagery according to instruction, step 8 is transferred to if stopping, and continuation returns to step 2；
Step 8: scanning imagery work terminates.
8. a kind of bluish-green laser range gating scan imaging method suitable for underwater moving platform according to claim 7,
It is characterized in that: driving sensing system optical axis at the uniform velocity to adjust along the opposite direction that carrier navigates by water by pitching ring stand in step 2 and step 5
The angular velocity omega turned meets
Wherein B is the longitudinal size of Range-gated Imager sensor detection viewing field.
9. a kind of bluish-green laser range gating scan imaging method suitable for underwater moving platform according to claim 7,
Be characterized in that: step-scan completes one and cuts wide time T satisfaction
Wherein L is gated imaging distance, and V is carrier route speed.
10. a kind of bluish-green laser range gating scan imaging method suitable for underwater moving platform according to claim 6,
Be characterized in that: under forward sight operating mode, sensing system carries out closely the target for needing close observation by forward sight window
The detailed process of imaging are as follows:
Step a: sensing system optical axis is driven to turn to forward sight window by pitching ring stand；
Step b: sensing system optical axis is driven to turn to lateral step-scan initial position by roll ring stand；
Step c: frame imaging is completed in the exposure of Range-gated Imager sensing system；
Step d: judge whether to complete a stepping number cut in wide b, if completed, enter step f, otherwise enter step
e；Described to cut the transverse width that wide b is extended field of view, b=N × a, a are lateral step angle, and N is a picture frame cut in width
Quantity；
Step e: being driven sensing system optical axis lateral deflection stepping 1 time, step angle a by roll ring stand, is met
Wherein A is the lateral dimension of Range-gated Imager sensor detection viewing field；Then return step c；
Step f: sensing system optical axis is driven to turn angle B along the positive direction that carrier navigates by water by pitching ring stand, B is distance choosing
The longitudinal size of logical imaging sensor detection viewing field；After the completion of turning, optical axis position cuts wide step-scan as next at this time
Initial position, and the direction of step-scan is upper one opposite direction for cutting wide scanning；
Step g: judging whether to stop scanning imagery according to instruction, and step h is transferred to if stopping, and continuation returns to step c；
Step h: scanning imagery work terminates.
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